More investigation on MVN-type zhang equivalence for robotic redundancy resolution

In previous research, an equivalence for the MVN (minimum velocity norm) scheme on robotic redundancy resolution have been shown by Zhang et al, that is, Zhang equivalence (ZE) with MVN type. In this work, as the extension of the MVN-type ZE, a new acceleration-level minimization scheme with a generalized formulation is studied for redundant robot manipulators. Then, this minimization scheme is theoretically proven to possess the equivalence to the original MVN scheme in velocity level. On the basis of a PUMA560 robot manipulator, simulation results further indicate the effectiveness of the presented acceleration-level minimization scheme, and show the MVN-type ZE phenomenon on robotic redundancy resolution.